Sharif Digital Repository

In this paper, a new haptic interaction is presented where the operator is in contact with the haptic device (HD) only when she/he is in contact with the virtual environment (VE). This is in contrast with traditional haptic systems, where the operator is always in contact with the HD, even if she/he is out of the VE. In this haptic interaction, a visual tracking system is used to track the operator’s finger. When the finger is out of the VE, the HD tracks the finger so that the stylus of the HD keeps a constant distance of about 2 cm from the finger. When the finger gets close to the VE, the stylus slows down and stops upon reaching the VE; it then waits until the operator touches the stylus... 

Inspired by the effects of a switching surface on the stability of passive dynamic walking (Safa and Naraghi in Robotica 33(01):195–207, 2015; Safa et al. in Nonlinear Dyn. 81(4):2127–2140, 2015), this paper suggests a new control strategy for stabilization of dynamic bipedal locomotion. It verifies that the stability improvement of a dynamic walking system is feasible while preserving the speed, step-length, period, natural dynamics, and the energy effectiveness of the gait. The proposed control policy goes behind the three primary principles: (i) The system’s switching surface has to be replaced by a new one if an external disturbance is induced. (ii) The new switching surface has to be... 

Inspired by the effects of a switching surface on the stability of passive dynamic walking (Safa and Naraghi in Robotica 33(01):195–207, 2015; Safa et al. in Nonlinear Dyn. 81(4):2127–2140, 2015), this paper suggests a new control strategy for stabilization of dynamic bipedal locomotion. It verifies that the stability improvement of a dynamic walking system is feasible while preserving the speed, step-length, period, natural dynamics, and the energy effectiveness of the gait. The proposed control policy goes behind the three primary principles: (i) The system’s switching surface has to be replaced by a new one if an external disturbance is induced. (ii) The new switching surface has to be... 

With the proliferation of intermittent renewable energy sources, power systems need to withstand an increasing number of disturbances that may affect system frequency. In this paper, we focus on the effects of high penetration level of wind turbine-generators (WTG) on the power system operational planning from the frequency point of view. Specifically, an exact formulation for the minimum frequency calculation is presented to increase accuracy and speed of analyses. Then, the effect of WTG's frequency response on the power system frequency stability is investigated to compute the maximum acceptable generation outage as a function of penetration level. Finally, as an application to power... 

In the machining processes, vibration suppression is crucial in order to achieve the high precision as well as high-quality surface and increase of the material removal rate. In this paper, an adaptive sliding mode control approach is presented to supress the chattering phenomenon in the boring process in the presence of model uncertainties and unmodeled dynamics. The boring bar is modeled as a cantilever Euler–Bernoulli beam, which is actuated by a piezo-actuator located at the bar's end. As a more realistic model, the cutting tool is modeled as an added mass at the bar's end. In order to derive the equations of motion, mode summation method with inclusion the first three modes of vibration... 

This paper proposes a transient stability constrained controlled islanding (TSC-CI) approach against cascading events in power systems. Using the wide area measurements, the proposed islanding algorithm is implemented regarding the actual dynamic conditions of the resulted islands. Since the main concern, right after the execution of controlled network splitting, is the transient stability of synchronous machines, a transient energy function is utilized for proper network partitioning. The proposed transient stability criterion is expressed as a function of the transfer impedance between each pair of generators in the resulted islands. Transfer impedance between each pair of coherent... 

With the increasing penetration of renewable energies as distributed generation (DG) in power systems, technical problems arise in both distribution and transmission system level. Voltage rise is the main barrier for connection of DGs in rural areas, while excessive reactive power demand from transmission system is the major concern for Transmission System Operators (TSO). Here, a centralized control scheme based on the Smart Grid is proposed to reduce the impact on the transmission system voltages and improve its stability, while mitigating the voltage rise issue in the distribution network. Reactive power output of DGs, substation capacitors and tap setting of transmission transformer are... 

In this study, an integrated 2D numerical model is applied to investigate the mechanical effects of the vegetation and soil type on slope stability. The developed model can assess the mechanical aspects of vegetation in slope stabilization. For this purpose, a case study of the Kheyrud forest located in northern Iran is considered as a real case site. Different scenarios including; three soil types (fine grain with low-, medium-, and high-strength) and two vegetation types (Maple and Common-ash) are assessed in the stability analysis (based on safety factor). The results confirm that the considered vegetation can prevent shallow landslide occasions, but has a limited impact on deep landslide... 

The casing treatment and flow injection upstream of the rotor tip are two effective approaches in suppressing instabilities or recovering from a fully developed stall. This paper presents numerical simulations for a high-speed transonic compressor rotor, NASA Rotor 37, applying a state-of-the-art design for the blade tip injection. This is characterized by introducing a jet flow directly into the casing treatment machined into the shroud. The casing treatment is positioned over the blade tip region and exceeds the impeller axially by ∼30 per cent of the tip chord both in the upstream and in the downstream directions. To numerically solve the governing equations, the three-dimensional finite... 

In this paper, a tunable vibration absorber set (TVAs) is designed to suppress regenerative chatter in milling process (as a semi-active controller). An extended dynamic model of the peripheral milling with closed form expressions for the nonlinear cutting forces is presented. The extension part of the cutting tool is modeled as an Euler-Bernoulli beam with in plane lateral vibrations (x-y directions). Tunable vibration absorbers in x-y directions are composed of mass, spring and dashpot elements. In the presence of regenerative chatter, coupled dynamics of the system (including the beam and x-y absorbers) is described through nonlinear delay differential equations. Using an optimal...